Operation In Multiple Axes Positioning Control - Mitsubishi Electric MELSEC iQ-R Series User Manual

■Output variables
Name Variable name
Completion Done
Executing Busy
Controlling Active
Abortion of execution CommandAborted
Error Error
Error code ErrorID

Operation in multiple axes positioning control

In the multiple axes positioning control, the positioning control with multiple axes using an axes group can be executed.
To execute the multiple axes positioning control, axes group settings and enabling are required. For details, refer to the
following.

Page 51 Axes Group, Page 60 Axes Group Assignment
The positioning control includes the following types.
Classification of positioning
control
Multiple axes positioning control
Data type
BOOL
BOOL
BOOL
BOOL
BOOL
WORD (UINT)
Classification of multiple axes
Multiple axes interpolation control
Default Description
value
FALSE Indicates that the control is completed.
When Execute is TRUE at the operation
completion, TRUE remains until Execute turns
FALSE.
When Execute is FALSE at the operation
completion, it becomes TRUE only for one cycle.
FALSE Indicates that the FB is in execution.
FALSE Indicates that axis is being controlled. When
multiple FBs are executed for the same axes
group, Active of only one FB turns TRUE.
FALSE Indicates that execution of FB has been aborted
due to error or multiple start.
FALSE Indicates that an error has occurred.
0000H The generated error code is returned.
For details, refer to the following.
Page 534 List of Error Codes
Classification of interpolation
Linear interpolation control
Circular interpolation control
6 AXIS CONTROL FUNCTION
6.4 Multiple Axes Positioning Control
Classification of control
Absolute value linear interpolation
control
Relative value linear interpolation
control
Absolute value circular interpolation
control
Relative value circular interpolation
control
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